This class provides wrappers around entities and components which are more convenient and straight-forward to use than dealing with the EntityComponentManager directly. All the functions provided here are meant to be used with a light entity. More...

#include <gz/sim/Light.hh>

Public Member Functions
	Light (sim::Entity _entity=kNullEntity)
	Constructor. More...

std::optional< double >	AttenuationConstant (const EntityComponentManager &_ecm) const
	Get the light attenuation constant value. Light attenuation is not applicable to directional lights. More...

std::optional< double >	AttenuationLinear (const EntityComponentManager &_ecm) const
	Get the light attenuation linear value. Light attenuation is not applicable to directional lights. More...

std::optional< double >	AttenuationQuadratic (const EntityComponentManager &_ecm) const
	Get the light attenuation quadratic value. Light attenuation is not applicable to directional lights. More...

std::optional< double >	AttenuationRange (const EntityComponentManager &_ecm) const
	Get the light attenuation range. Light attenuation is not applicable to directional lights. More...

std::optional< bool >	CastShadows (const EntityComponentManager &_ecm) const
	Get whether the light casts shadows. More...

std::optional< math::Color >	DiffuseColor (const EntityComponentManager &_ecm) const
	Get the light diffuse color. More...

std::optional< math::Vector3d >	Direction (const EntityComponentManager &_ecm) const
	Get the light direction. More...

sim::Entity	Entity () const
	Get the entity which this Light is related to. More...

std::optional< double >	Intensity (const EntityComponentManager &_ecm) const
	Get the light intensity. More...

std::optional< std::string >	Name (const EntityComponentManager &_ecm) const
	Get the light's unscoped name. More...

std::optional< sim::Entity >	Parent (const EntityComponentManager &_ecm) const
	Get the parent entity. This can be a world or a link. More...

std::optional< math::Pose3d >	Pose (const EntityComponentManager &_ecm) const
	Get the pose of the light. The pose is given w.r.t the light's parent. which can be a world or a link. More...

void	ResetEntity (sim::Entity _newEntity)
	Reset Entity to a new one. More...

void	SetAttenuationConstant (EntityComponentManager &_ecm, double _value)
	Set attenuation constant value of this light. More...

void	SetAttenuationLinear (EntityComponentManager &_ecm, double _value)
	Set attenuation linear value of this light. More...

void	SetAttenuationQuadratic (EntityComponentManager &_ecm, double _value)
	Set attenuation quadratic value of this light. More...

void	SetAttenuationRange (EntityComponentManager &_ecm, double _range)
	Set attenuation range of this light. More...

void	SetCastShadows (EntityComponentManager &_ecm, bool _castShadows)
	Set whether the light casts shadows. More...

void	SetDiffuseColor (EntityComponentManager &_ecm, const math::Color &_color)
	Set the diffuse color of this light. More...

void	SetDirection (EntityComponentManager &_ecm, const math::Vector3d &_dir)
	Set light direction. Applies to directional lights. More...

void	SetIntensity (EntityComponentManager &_ecm, double _value)
	Set light intensity. More...

void	SetPose (EntityComponentManager &_ecm, const math::Pose3d &_pose)
	Set the pose of this light. More...

void	SetSpecularColor (EntityComponentManager &_ecm, const math::Color &_color)
	Set the specular color of this light. More...

void	SetSpotFalloff (EntityComponentManager &_ecm, double _falloff)
	Set fall off value for this light. Applies to spot lights only. More...

void	SetSpotInnerAngle (EntityComponentManager &_ecm, const math::Angle &_angle)
	Set inner angle for this light. Applies to spot lights only. More...

void	SetSpotOuterAngle (EntityComponentManager &_ecm, const math::Angle &_angle)
	Set outer angle for this light. Applies to spot lights only. More...

std::optional< math::Color >	SpecularColor (const EntityComponentManager &_ecm) const
	Get the light specular color. More...

std::optional< double >	SpotFalloff (const EntityComponentManager &_ecm) const
	Get the fall off value of light. Applies to spot lights only. More...

std::optional< math::Angle >	SpotInnerAngle (const EntityComponentManager &_ecm) const
	Get the inner angle of light. Applies to spot lights only. More...

std::optional< math::Angle >	SpotOuterAngle (const EntityComponentManager &_ecm) const
	Get the outer angle of light. Applies to spot lights only. More...

std::optional< std::string >	Type (const EntityComponentManager &_ecm) const
	Get the light type. More...

bool	Valid (const EntityComponentManager &_ecm) const
	Check whether this light correctly refers to an entity that has a components::Light. More...

Detailed Description

This class provides wrappers around entities and components which are more convenient and straight-forward to use than dealing with the EntityComponentManager directly. All the functions provided here are meant to be used with a light entity.

For example, given a light's entity, find the value of its name component, one could use the entity-component manager (ecm) directly as follows:

std::string name = ecm.Component<components::Name>(entity)->Data();

Using this class however, the same information can be obtained with a simpler function call:

Light light(entity); std::string name = light.Name(ecm);

Constructor & Destructor Documentation

◆ Light()

Light ( sim::Entity _entity = kNullEntity )

explicit

Constructor.

Parameters

[in] _entity Light entity

Member Function Documentation

◆ AttenuationConstant()

std::optional<double> AttenuationConstant ( const EntityComponentManager & _ecm ) const

Get the light attenuation constant value. Light attenuation is not applicable to directional lights.

Parameters

[in] _ecm Entity-component manager.

Returns: Attenuation constant value of light or nullopt if the entity does not have a components::Light component.

◆ AttenuationLinear()

std::optional<double> AttenuationLinear ( const EntityComponentManager & _ecm ) const

Get the light attenuation linear value. Light attenuation is not applicable to directional lights.

Parameters

[in] _ecm Entity-component manager.

Returns: Attenuation linear value of light or nullopt if the entity does not have a components::Light component.

◆ AttenuationQuadratic()

std::optional<double> AttenuationQuadratic ( const EntityComponentManager & _ecm ) const

Get the light attenuation quadratic value. Light attenuation is not applicable to directional lights.

Parameters

[in] _ecm Entity-component manager.

Returns: Attenuation quadratic value of light or nullopt if the entity does not have a components::Light component.

◆ AttenuationRange()

std::optional<double> AttenuationRange ( const EntityComponentManager & _ecm ) const

Get the light attenuation range. Light attenuation is not applicable to directional lights.

Parameters

[in] _ecm Entity-component manager.

Returns: Attenuation range of light or nullopt if the entity does not have a components::Light component.

◆ CastShadows()

std::optional<bool> CastShadows ( const EntityComponentManager & _ecm ) const

Get whether the light casts shadows.

Parameters

[in] _ecm Entity-component manager.

Returns: Cast shadow bool value of light or nullopt if the entity does not have a components::CastShadows component.

◆ DiffuseColor()

std::optional<math::Color> DiffuseColor ( const EntityComponentManager & _ecm ) const

Get the light diffuse color.

Parameters

[in] _ecm Entity-component manager.

Returns: Diffuse color of the light or nullopt if the entity does not have a components::Light component.

◆ Direction()

std::optional<math::Vector3d> Direction ( const EntityComponentManager & _ecm ) const

Get the light direction.

Parameters

[in] _ecm Entity-component manager.

Returns: Direction of light or nullopt if the entity does not have a components::Light component.

◆ Entity()

sim::Entity Entity ( ) const

Get the entity which this Light is related to.

Returns: Light entity.

◆ Intensity()

std::optional<double> Intensity ( const EntityComponentManager & _ecm ) const

Get the light intensity.

Parameters

[in] _ecm Entity-component manager.

Returns: Intensity of light or nullopt if the entity does not have a components::Light component.

◆ Name()

std::optional<std::string> Name ( const EntityComponentManager & _ecm ) const

Get the light's unscoped name.

Parameters

[in] _ecm Entity-component manager.

Returns: Light's name or nullopt if the entity does not have a components::Name component

◆ Parent()

std::optional<sim::Entity> Parent ( const EntityComponentManager & _ecm ) const

Get the parent entity. This can be a world or a link.

Parameters

[in] _ecm Entity-component manager.

Returns: Parent entity or nullopt if the entity does not have a components::ParentEntity component.

◆ Pose()

std::optional<math::Pose3d> Pose ( const EntityComponentManager & _ecm ) const

Get the pose of the light. The pose is given w.r.t the light's parent. which can be a world or a link.

Parameters

[in] _ecm Entity-component manager.

Returns: Pose of the light or nullopt if the entity does not have a components::Pose component.

◆ ResetEntity()

void ResetEntity ( sim::Entity _newEntity )

Reset Entity to a new one.

Parameters

[in] _newEntity New light entity.

◆ SetAttenuationConstant()

void SetAttenuationConstant	(	EntityComponentManager &	_ecm,
		double	_value
	)

Set attenuation constant value of this light.

Parameters

[in]	_ecm	Entity-component manager. Light attenuation is not applicable to directional lights.
[in]	_value	Attenuation constant value to set

◆ SetAttenuationLinear()

void SetAttenuationLinear	(	EntityComponentManager &	_ecm,
		double	_value
	)

Set attenuation linear value of this light.

Parameters

[in]	_ecm	Entity-component manager. Light attenuation is not applicable to directional lights.
[in]	_value	Attenuation linear value to set

◆ SetAttenuationQuadratic()

void SetAttenuationQuadratic	(	EntityComponentManager &	_ecm,
		double	_value
	)

Set attenuation quadratic value of this light.

Parameters

[in]	_ecm	Entity-component manager. Light attenuation is not applicable to directional lights.
[in]	_value	Attenuation quadratic value to set

◆ SetAttenuationRange()

void SetAttenuationRange	(	EntityComponentManager &	_ecm,
		double	_range
	)

Set attenuation range of this light.

Parameters

[in]	_ecm	Entity-component manager. Light attenuation is not applicable to directional lights.
[in]	_bool	True to cast shadows, false to not cast shadows.

◆ SetCastShadows()

void SetCastShadows	(	EntityComponentManager &	_ecm,
		bool	_castShadows
	)

Set whether the light casts shadows.

Parameters

[in]	_ecm	Entity-component manager.
[in]	_bool	True to cast shadows, false to not cast shadows.

◆ SetDiffuseColor()

void SetDiffuseColor	(	EntityComponentManager &	_ecm,
		const math::Color &	_color
	)

Set the diffuse color of this light.

Parameters

[in]	_ecm	Entity-component manager.
[in]	_color	Diffuse color to set the light to

◆ SetDirection()

void SetDirection	(	EntityComponentManager &	_ecm,
		const math::Vector3d &	_dir
	)

Set light direction. Applies to directional lights.

Parameters

[in]	_ecm	Entity-component manager. and spot lights only.
[in]	_dir	Direction to set

◆ SetIntensity()

void SetIntensity	(	EntityComponentManager &	_ecm,
		double	_value
	)

Set light intensity.

Parameters

[in]	_ecm	Entity-component manager.
[in]	_value	Intensity value

◆ SetPose()

void SetPose	(	EntityComponentManager &	_ecm,
		const math::Pose3d &	_pose
	)

Set the pose of this light.

Parameters

[in]	_ecm	Entity-component manager. Pose is set w.r.t. the light's parent which can be a world or a link.
[in]	_pose	Pose to set the light to.

◆ SetSpecularColor()

void SetSpecularColor	(	EntityComponentManager &	_ecm,
		const math::Color &	_color
	)

Set the specular color of this light.

Parameters

[in]	_ecm	Entity-component manager.
[in]	_color	Specular color to set the light to

◆ SetSpotFalloff()

void SetSpotFalloff	(	EntityComponentManager &	_ecm,
		double	_falloff
	)

Set fall off value for this light. Applies to spot lights only.

Parameters

[in]	_ecm	Entity-component manager.
[in]	_fallOff	Fall off value

◆ SetSpotInnerAngle()

void SetSpotInnerAngle	(	EntityComponentManager &	_ecm,
		const math::Angle &	_angle
	)

Set inner angle for this light. Applies to spot lights only.

Parameters

[in]	_ecm	Entity-component manager.
[in]	_angle	Angle to set.

◆ SetSpotOuterAngle()

void SetSpotOuterAngle	(	EntityComponentManager &	_ecm,
		const math::Angle &	_angle
	)

Set outer angle for this light. Applies to spot lights only.

Parameters

[in]	_ecm	Entity-component manager.
[in]	_angle	Angle to set.

◆ SpecularColor()

std::optional<math::Color> SpecularColor ( const EntityComponentManager & _ecm ) const

Get the light specular color.

Parameters

[in] _ecm Entity-component manager.

Returns: Specular color of the light or nullopt if the entity does not have a components::Light component.

◆ SpotFalloff()

std::optional<double> SpotFalloff ( const EntityComponentManager & _ecm ) const

Get the fall off value of light. Applies to spot lights only.

Parameters

[in] _ecm Entity-component manager.

Returns: Fall off value of spot light or nullopt if the entity does not have a components::Light component.

◆ SpotInnerAngle()

std::optional<math::Angle> SpotInnerAngle ( const EntityComponentManager & _ecm ) const

Get the inner angle of light. Applies to spot lights only.

Parameters

[in] _ecm Entity-component manager.

Returns: Inner angle of spot light or nullopt if the entity does not have a components::Light component.

◆ SpotOuterAngle()

std::optional<math::Angle> SpotOuterAngle ( const EntityComponentManager & _ecm ) const

Get the outer angle of light. Applies to spot lights only.

Parameters

[in] _ecm Entity-component manager.

Returns: Outer angle of spot light or nullopt if the entity does not have a components::Light component.

◆ Type()

std::optional<std::string> Type ( const EntityComponentManager & _ecm ) const

Get the light type.

Parameters

[in] _ecm Entity-component manager.

Returns: Type of the light or nullopt if the entity does not have a components::LightType component.

◆ Valid()

bool Valid ( const EntityComponentManager & _ecm ) const

Check whether this light correctly refers to an entity that has a components::Light.

Parameters

[in] _ecm Entity-component manager.

Returns: True if it's a valid light in the manager.

The documentation for this class was generated from the following file:

gz/sim/Light.hh

Gazebo Sim

API Reference

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ Light()

Member Function Documentation

◆ AttenuationConstant()

◆ AttenuationLinear()

◆ AttenuationQuadratic()

◆ AttenuationRange()

◆ CastShadows()

◆ DiffuseColor()

◆ Direction()

◆ Entity()

◆ Intensity()

◆ Name()

◆ Parent()

◆ Pose()

◆ ResetEntity()

◆ SetAttenuationConstant()

◆ SetAttenuationLinear()

◆ SetAttenuationQuadratic()

◆ SetAttenuationRange()

◆ SetCastShadows()

◆ SetDiffuseColor()

◆ SetDirection()

◆ SetIntensity()

◆ SetPose()

◆ SetSpecularColor()

◆ SetSpotFalloff()

◆ SetSpotInnerAngle()

◆ SetSpotOuterAngle()

◆ SpecularColor()

◆ SpotFalloff()

◆ SpotInnerAngle()

◆ SpotOuterAngle()

◆ Type()

◆ Valid()